Oral implant robot control system based on state capture and operation method thereof

Abstract

An oral implant robot control system based on state capture comprises a motion execution module, a motion control module, a sensing module, a marker module, an expert database system robot operation skill reinforcement learning system and an information storage module, and the sensing module comprises a six-dimensional force sensor and an image information acquisition unit; the marker module comprises a patient oral marker and a glove with the marker; the expert database system comprises internal bone density information of alveolar bones of a patient, an implantation scheme, an intra-operative robot motion state and control parameters and error analysis. The invention further provides an operation method of the oral implant robot control system based on state capture. Movement of the robot is more suitable for operation habits of doctors, the robot and the doctors can be more smoothly matched during the oral implanting operation in a man-machine cooperation mode, and the position and shape precision of the prepared cavity is improved.

Description

technical field [0001] The invention belongs to the technical field of robot control, and belongs to a non-disease treatment method, in particular to a robot control system for oral implantation in an operation process guided by an expert system and an operation method thereof. Background technique [0002] In recent years, the technical research and product development of medical robots have continued to advance, and surgical robots are the largest and most important field in the field of medical robots. Surgical robot is a new type of medical device integrating clinical medicine, biomechanics, mechanics, computer science, microelectronics and many other disciplines. Compared with human hands, robots have higher accuracy, stability and repeatability. It has been widely used in neurosurgery, abdominal surgery, thoracic surgery, orthopedic surgery, vascular intervention, and craniofacial surgery. For example, the Da Vinci surgical robot system is used in general surgery, tho...

AI Technical Summary

Problems solved by technology

However, there are many deficiencies in the process of robot cavity preparation at present: (1) During the operation, because the patient's bone tissue is a heterogeneous material, the drill needle will move toward the side with less bone density during the hole preparation process. Deviation occurs, which will cause the deviation of the axis of the prepared hole and the shape error, and the experienced doctor will consciously apply pressure to the side with high bone density according to the "hand feeling" to achieve the correction of the axis of the drill needle, thereby reducing the damage due to bone loss. Hole preparation errors caused by uneven quality, and the current planting robots cannot effectively simulate this "feel" and operating gestures; (2) Robots cannot achieve the same environmental perception and judgment as doctors, so robots are implemented in collaboration with doctors. There may be behavioral conflicts during the operation, which makes the doctor feel "unsmooth" during the operation; (3) The existing oral implant robots cannot continuously accumulate "experience" during the operation like humans to continuously improve the operation. ability to execute

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